ServoSEA concept: Cheap, miniature series-elastic actuators for orthotic, prosthetic and robotic hands

Sedar Ates, Victor IJzebrand Sluiter, P. Lammertse, Arno Stienen

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)

Abstract

For interactive humanoids, rehabilitation robots, and orthotic and prosthetic devices, the human-robot interaction is an essential but challenging element. Compliant Series-Elastic Actuators (SEAs) are ideal to power such devices due to their low impedance and smoothness of generated forces. In this paper we present the ServoSEA, which is a miniature Series-Elastic Actuator (SEA) based on cheap RC servos, and which is useful for actuation of orthotic, prosthetic or robotic hands. RC servos are complete packages that come with rotary motor and sensor and have an integrated control board to control the output angle. In the ServoSEA, a small rotational spring is attached to the output shaft and the internal rotary sensor is relocated to measure the spring deflection. These small modifications immediately make the integrated control board behave as a series-elastic torque controller. Here we present several design alternatives and report on the performance of our implementation that will be used in the active SCRIPT wrist and hand orthosis. The performance measurements showed that feedforward control of the example implementation of the ServoSEA results in acceptable, though not perfect, force tracking behavior. It is clear that although the ServoSEA concept is universal, final performance strongly depends on the quality of the original RC servo.
Original languageEnglish
Title of host publication5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
Place of PublicationSao Paulo, Brazil
PublisherIEEE Computer Society
Pages752-757
ISBN (Print)978-147993126-2
DOIs
Publication statusPublished - 12 Aug 2014
Event5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Palacio das Convenções Anhembi, Sao Paulo, Brazil
Duration: 12 Aug 201415 Aug 2014
Conference number: 5

Publication series

Name
PublisherIEEE Computer Society

Conference

Conference5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Abbreviated titleBioRob
CountryBrazil
CitySao Paulo
Period12/08/1415/08/14

Keywords

  • IR-101002
  • METIS-308636

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